arXiv:2605.21800cs.LGcs.RO2026-05被引 6

构建可复现的世界模型研究平台,解决代码碎片化与评估不统一问题。

stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation

论文配图:stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation
图 1 · 摘自论文原文
  • 基于Lance的高性能数据层,支持MP4/HDF5/LeRobot等格式无缝转换
  • 集成主流世界模型与规划求解器,提供稳定可复现的基线实现
  • 内置可控变量环境,支持动态理解、控制性能与分布外泛化系统评测

世界模型是构建能推理、规划并超越训练数据泛化的智能体的核心。然而当前世界模型研究高度分散,代码库、数据管道与评估协议各异,严重阻碍可复现性与公平比较。现有实践受三大瓶颈制约:脆弱的一次性代码、缓慢的视频数据加载、缺乏标准化泛化基准。本文提出stable-worldmodel(swm),一个开源的标准化、可复现的世界模型研究与评估平台。该平台提供:(1) 基于Lance的高性能数据层,原生支持并提供MP4、HDF5和LeRobot数据集的转换工具;(2) 现代世界模型基线与规划求解器的清晰、经充分测试的实现;(3) 广泛的环境与任务,扩展了可控的视觉、几何与物理变量,用于系统性地评估动态理解、控制性能、表征质量及分布外泛化能力。通过在单一可扩展框架下统一全链路流程,swm 显著降低研究开销,加速可信的世界模型发展进程。

原文摘要 · Abstract (English)

World models are central to building agents that can reason, plan, and generalize beyond their training data. However, research on world models is currently fragmented, with disparate codebases, data pipelines, and evaluation protocols hindering reproducibility and fair comparison. Current practice is further limited by three key bottlenecks: fragile one-off codebases, slow video data loading, and the lack of standardized generalization benchmarks. We present stable-worldmodel (swm), an open-source platform for standardized and reproducible world modeling research and evaluation. It delivers (1) a high-performance Lance-based data layer with native support and conversion tools for MP4, HDF5, and LeRobot datasets, (2) clean, well-tested implementations of modern world model baselines and planning solvers, and (3) a broad suite of environments and tasks extended with controllable visual, geometric, and physical factors of variation for systematic in-silico evaluation of dynamics understanding, control performance, representation quality, and out-of-distribution generalization. By unifying the full pipeline under a single, scalable framework, \texttt{swm} dramatically reduces research overhead and accelerates trustworthy progress toward reliable world models.

世界模型可复现评估平台强化学习

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